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WO1994007289A1 - Procede et dispositif de surveillance electronique de surcharge sur des commandes a moteur electrique - Google Patents

Procede et dispositif de surveillance electronique de surcharge sur des commandes a moteur electrique Download PDF

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Publication number
WO1994007289A1
WO1994007289A1 PCT/DE1993/000685 DE9300685W WO9407289A1 WO 1994007289 A1 WO1994007289 A1 WO 1994007289A1 DE 9300685 W DE9300685 W DE 9300685W WO 9407289 A1 WO9407289 A1 WO 9407289A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
overload
threshold value
active power
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE1993/000685
Other languages
German (de)
English (en)
Inventor
Klaus Felgenhauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leica Microsystems CMS GmbH
Original Assignee
Leica Mikroskopie und Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leica Mikroskopie und Systems GmbH filed Critical Leica Mikroskopie und Systems GmbH
Priority to JP6507642A priority Critical patent/JP3054656B2/ja
Priority to EP93915685A priority patent/EP0660972B1/fr
Priority to KR1019950700875A priority patent/KR950703221A/ko
Priority to US08/397,059 priority patent/US5602708A/en
Priority to DE59304001T priority patent/DE59304001D1/de
Publication of WO1994007289A1 publication Critical patent/WO1994007289A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D1/00—Measuring arrangements giving results other than momentary value of variable, of general application
    • G01D1/16—Measuring arrangements giving results other than momentary value of variable, of general application giving a value which is a function of two or more values, e.g. product or ratio
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational speed

Definitions

  • the invention relates to a method and a circuit arrangement for carrying out the method with the features of the preamble of claims 1 and 3.
  • Electromotive drives are used in a variety of ways, e.g. for driving power tools, household appliances, office machines, pumps, conveyor systems, positioning devices, electric trains etc.
  • the electromotive drive has to move an object which, depending on the application, can have a heavy weight (e.g. the goods to be conveyed and the conveyor belt in the case of electrically operated conveyor systems or the electrically movable portal of a portal measuring machine).
  • the electromotive drive In order to move the object, the electromotive drive must absorb electrical power, the so-called active power. The heavier the object to be moved, the greater the load on the motor and thus the effective power of the motor. A significant change in active power occurs at the time the load is switched on, i.e. when the electric motor drive is mechanically connected to the object to be moved (e.g. by a coupling between the two). It is also a load connection if, for. B. an electrically driven milling cutter touches the workpiece to be machined.
  • the target speed is called the start-up phase, which is then referred to as continuous operation.
  • the load capacity of an electric motor drive is limited by its heating.
  • the actual active power in continuous operation is called the target power, the maximum permissible target power is called the nominal power.
  • Electromotive drives may be briefly loaded beyond their nominal power.
  • the active power runs very quickly from zero to a peak value significantly above the nominal power during the start-up phase, that is to say after the electromotive drive is switched on, and only drops to the value of the target power when the target speed has been reached.
  • the peak value of the active power arises because the electromotive drive must first overcome its own mechanical inertia and the active power consumption in the start-up phase is only limited by the winding resistance and inductance of the electromotive drive. For an electromotive drive under load, this peak value is higher than that of the unloaded electromotive drive.
  • a method of the type mentioned at the outset is known for avoiding overheating of an electromotive drive itself or, for example, also for detecting tool wear and tool breakage on machine tools operated by electric motors. It is suitable for overload monitoring of electromotive drives (direct current, alternating current or three-phase current) in continuous current operation, the load of which is only switched on after the target speed has been reached, such as machine tools. This takes advantage of the fact that the time The course of the active power curve is constant from reaching the target speed and rises to a load-proportional level after the load is switched on. If an overload occurs, the current active power increases suddenly.
  • a comparison of the current active power with a power warning threshold representing the overload state indicates that a critical state has been reached.
  • a switching and / or warning signal is then triggered when the power warning threshold is exceeded.
  • the current consumption is measured and the current active power is determined therefrom.
  • the current measurement occurs in the case of electromotive drives operated with direct current by means of a Hall sensor, in the case of those operated with alternating current by means of a current transformer.
  • the current measurement can be carried out continuously.
  • the actual monitoring with threshold value comparison is only switched on after the start-up phase of the electromotive drive has been completed. This happens at a preselected point in time after the electric motor drive is switched on, since the usual time profile of the active power curve is known.
  • the switch-on time can also be determined from reaching a constant value of the active power.
  • the known method therefore does not cover all operating states of an electromotive drive. This is due to the fact that in the case of all electric motor drives in the start-up phase the power consumption quickly rises to a peak value far above the power warning threshold for an overload condition and then only drops to a constant value well below the peak value when the target speed is reached.
  • the peak value described is often due to overdriving of the amplifier stages of the power supply device of the electromotive Drive is not reached, but a plateau occurs before the peak value is reached in the course of the active power, far above the power warning threshold. Its height is determined by the current amplifier limitation. In the area of the amplifier limitation, additional peak values which are caused by overloads are therefore also not measurable. Therefore, the known method is not suitable for overload monitoring during the start-up phase of an electric motor drive.
  • the known method can therefore not be used for the overload monitoring of pulse-operated electromotive drives or stepper motors, because these, for. B. with short travel distances or slow travel speeds, operated below their target speed, so in the sense of the above description do not come out of the start-up phase.
  • overload monitoring in all operating states is particularly desirable for electromotive drives with a permanently connected load (e.g. positioning devices), because they can reach an overload state before the nominal speed is reached (e.g. due to mechanical jamming).
  • a permanently connected load e.g. positioning devices
  • the invention is therefore based on the object of specifying a method and a circuit arrangement which also allow the operating state of an electromotive drive to be monitored below the target speed and thus overload monitoring not only in the case of electromotive drives in continuous current operation but also in pulsed operation or also enable so-called stepper motors.
  • the invention provides electronic overload monitoring on electromotive drives, which can be used both for electromotive drives with a load that can be connected and for those with a permanently connected load. It offers the advantage of being able to reliably detect overload conditions even in the start-up phase of the electric motor drive, i.e. before the nominal speed has been reached. In this way, overload monitoring can take place both on electric motors in continuous current operation and on stepper motors or on pulsed electric motors.
  • the invention is based on monitoring the operating state of an electromotive drive in the start-up phase by observing a measurement variable proportional to the expected movement of the electromotive drive.
  • a measurement variable is the speed of the electric motor drive.
  • Both the rotational speed of an electric motor and, in the case of linear adjustment drives, the speed of advance can be used for monitoring.
  • the current speed is measured and compared with a speed threshold value which depends on the switch-on time of the electromotive drive and corresponds to an overload condition. As soon as an overload occurs, the current speed decreases. If the speed falls below the threshold, an independent switching and / or warning signal with the identifier "overload" is triggered.
  • Fig.l an embodiment of a circuit arrangement according to the invention with an electric motor drive to be monitored;
  • Fig. 3 a typical time course of the active power and the speed of rotation of an electromotive drive with a permanently connected constant load.
  • An active power meter 1 and a speed meter 5 are connected to an electromotive drive 2 to be monitored and only shown schematically with an angle encoder.
  • the electric motor drive 2 is supplied by a power supply device, not shown.
  • Control electronics 8 which is connected to the electromotive drive 2 and the active power meter 1, activate the actual active power monitoring when or after reaching the target speed of the electromotive drive. This takes place after a correspondingly preselected time after switching on the electromotive drive 2, since the usual time profile of the active power curve is known, or as a function of the actually measured speed. From this point in time, the output signal of the active power meter 1 is fed to the first input of a first comparator 3. A power threshold value representing an overload state is fed to the second input of the first comparator 3 and is queried by the power threshold value memory 4. Since the active power is a quantity proportional to the load, the power threshold value is preselected by a certain amount above the active power caused by the regular load.
  • the power threshold is therefore also constant over time. If the load is constant over time, the power threshold is therefore also constant over time. If the load changes depending on the time, for example during an operation of a machine tool, 4 time-dependent power threshold values can be stored in the power threshold value memory. The first comparator 3 is then supplied with the power threshold value associated with the respective time of the active power measurement.
  • the first comparator 3 supplies a signal at its output which triggers a switching and / or warning signal with the identifier "overload". With this e.g. the shutdown of the drive can be controlled.
  • the speedometer 5 is not controlled by the control electronics 8. He continuously measures the speed of the electromotive drive 2, also during the start-up phase before reaching the target speed. To this end, either the speed of advance can be measured by measuring the linear movement per time interval or the speed of rotation can be measured by measuring the angle of rotation per time interval.
  • a rotary angle sensor (not shown) is to be provided on the electric motor drive 2.
  • the output signal of the speedometer 5 is fed to the first input of a second comparator 6.
  • a time-dependent speed threshold value representing an overload condition is queried at its second input and is queried by a speed threshold value memory 7.
  • This speed threshold value indicates the tolerated deviation from the movement of the electromotive drive expected under normal operating conditions. The expected movement depends from the time the electromotive drive is switched on, from which it is operated with continuous current or with pulsed current. If the currently measured speed falls below the speed threshold, this indicates an overload condition.
  • the second comparator 6 then delivers at its output a signal which triggers a switching and / or warning signal with the identifier "overload" that is independent of the active power.
  • FIG. 2 shows the typical time profile of the active power and the speed of an electromotive drive in continuous current operation, the load of which is switched on after the target speed has been reached.
  • 3 shows the same measured variables for an electromotive drive in continuous current operation with continuous load.
  • the target speed is reached at time t $.
  • t L denotes the time of the load connection in FIG. 2, which is not shown in FIG. 3 because of the permanently connected load.
  • Ty-_ indicates a point in time at which an overload occurs here in the examples.
  • the active power drops to an idle level when the target speed is reached. As soon as the load is switched on, it then rises to a load-proportional level.
  • the power threshold is selected above this load-proportional active power value. Accordingly, a threshold value below the speed shown is set for the speed. If an overload occurs after reaching the target speed and after load connection at time T (j
  • Threshold comparison is the "sluggish" method because it responds more slowly in the event of overload. This can be used depending on the application. It may be desirable that small short-term overloads do not immediately lead to system shutdown. In this case, the "sluggish"
  • the active power control with threshold value comparison is unsuitable for the operating states before the target speed is reached because the described passage of a peak value far above the power threshold value is unsuitable.
  • the overload monitoring using the speed control with threshold value comparison is very sensitive because the speed increases continuously during the start-up phase.
  • overload monitoring using an active power control is basically unusable, since the electric motor drive is excited again with each current pulse, which means a new start-up phase each time.
  • overload monitoring can therefore only be achieved by means of a speed control.
  • Active power meter electromotive drive with rotary encoder, first comparator, power threshold memory, speedometer, second comparator, speed threshold memory, control electronics

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Stepping Motors (AREA)
  • Protection Of Generators And Motors (AREA)
  • Microscoopes, Condenser (AREA)

Abstract

L'invention concerne un procédé et un circuit pour surveiller électroniquement les surcharges pouvant survenir sur des commandes à moteur électrique pour lesquelles il est procédé à un contrôle de vitesse en utilisant la méthode connue du contrôle de la puissance effective. L'invention permet également de surveiller l'état de fonctionnement d'une commande à moteur électrique en charge, au-dessous de la vitesse de rotation. L'invention permet de surveiller la surcharge non seulement de commandes à moteur électrique fonctionnant en courant continu, mais également en régime pulsé, y compris dans les moteurs pas à pas.
PCT/DE1993/000685 1992-09-16 1993-08-05 Procede et dispositif de surveillance electronique de surcharge sur des commandes a moteur electrique Ceased WO1994007289A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP6507642A JP3054656B2 (ja) 1992-09-16 1993-08-05 電動駆動装置の過負荷を電子的に監視する方法及び装置
EP93915685A EP0660972B1 (fr) 1992-09-16 1993-08-05 Procede et dispositif de surveillance electronique de surcharge sur des commandes a moteur electrique
KR1019950700875A KR950703221A (ko) 1992-09-16 1993-08-05 전기모터 구동장치상에 걸리는 과부하를 전기적으로 감시하기 위한 방법 및 그 장치(process and device for electronically monitoring the overload on electic motor drives)
US08/397,059 US5602708A (en) 1992-09-16 1993-08-05 Process and device for electronically monitoring the overload on electric motor drives
DE59304001T DE59304001D1 (de) 1992-09-16 1993-08-05 Verfahren und vorrichtung zur elektronischen überlastüberwachung an elektromotorischen antrieben

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4230873A DE4230873A1 (de) 1992-09-16 1992-09-16 Verfahren und Vorrichtung zur elektronischen Überlastüberwachung an elektromotorischen Antrieben
DEP4230873.9 1992-09-16

Publications (1)

Publication Number Publication Date
WO1994007289A1 true WO1994007289A1 (fr) 1994-03-31

Family

ID=6468020

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1993/000685 Ceased WO1994007289A1 (fr) 1992-09-16 1993-08-05 Procede et dispositif de surveillance electronique de surcharge sur des commandes a moteur electrique

Country Status (7)

Country Link
US (1) US5602708A (fr)
EP (1) EP0660972B1 (fr)
JP (1) JP3054656B2 (fr)
KR (1) KR950703221A (fr)
AT (1) ATE143537T1 (fr)
DE (2) DE4230873A1 (fr)
WO (1) WO1994007289A1 (fr)

Families Citing this family (19)

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US5651667A (en) * 1991-10-11 1997-07-29 Helix Technology Corporation Cryopump synchronous motor load monitor
US6041287A (en) * 1996-11-07 2000-03-21 Reliance Electric Industrial Company System architecture for on-line machine diagnostics
SE516155C2 (sv) * 1997-10-28 2001-11-26 Emotron Ab Belastningsvakt
US6295510B1 (en) 1998-07-17 2001-09-25 Reliance Electric Technologies, Llc Modular machinery data collection and analysis system
DE29906955U1 (de) * 1999-04-19 2000-10-12 Phoenix Contact GmbH & Co, 32825 Blomberg Elektronische Steuereinrichtung
DE19944197A1 (de) * 1999-09-15 2001-03-22 Bosch Gmbh Robert Elektronisch kommutierbarer Motor
DE10043020A1 (de) * 2000-09-01 2002-03-14 Wittenstein Gmbh & Co Kg Lastadaptives Steuerungssystem, insbesondere für Transporteinrichtungen wie in Flugzeugen
US6853934B2 (en) * 2002-01-02 2005-02-08 General Electric Company System and method for remote data acquisition, monitoring and control
JP5376392B2 (ja) * 2008-02-14 2013-12-25 日立工機株式会社 電動工具
US8473110B2 (en) * 2008-11-25 2013-06-25 Regal Beloit America, Inc. Systems and methods for controlling operation of a motor
JP2013192414A (ja) 2012-03-15 2013-09-26 Omron Corp 駆動制御装置
DE102013104164A1 (de) * 2013-04-24 2014-10-30 Kasaero GmbH Verfahren zum Überwachen von Antriebsmotoren
ES2851323T3 (es) * 2015-09-10 2021-09-06 Bucher Hydraulics Gmbh Procedimiento para detectar una pérdida de paso en un motor paso a paso y control electrónico asociado de un motor paso a paso
EP3391491B1 (fr) 2015-12-14 2020-08-12 Milwaukee Electric Tool Corporation Détection de surcharge dans un outil électrique
JP6264430B2 (ja) * 2016-11-09 2018-01-24 オムロン株式会社 サーボシステムおよびセーフティユニット
JP7150150B2 (ja) * 2019-04-11 2022-10-07 三菱電機株式会社 モータ駆動装置、電動送風機、電気掃除機及びハンドドライヤ
CN112051801B (zh) * 2020-08-06 2022-05-17 北京北一机床有限责任公司 一种无传感器监控主轴过载的冗余策略方法
JP7705952B2 (ja) * 2021-04-08 2025-07-10 ハンオン システムズ モーター駆動制御システム及びその制御方法
DE102023136136A1 (de) * 2023-12-20 2025-06-26 Westnetz Gmbh Wechselrichter und Verfahren für einen Wechselrichter

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Publication number Priority date Publication date Assignee Title
FR2123145A1 (fr) * 1971-01-25 1972-09-08 Unelec
GB1363738A (en) * 1971-10-25 1974-08-14 Messgeraetewerk Zwoenitz Gerae Electric circuit arrangement for controlling the supply of electric current to an electric motor
EP0456874A1 (fr) * 1990-05-18 1991-11-21 Siemens Aktiengesellschaft Protection contre la surcharge d'un bobinage d'un moteur série à courant continu, surveillé par un dispositif de mesure de la vitesse de rotation

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US4839819A (en) * 1986-08-14 1989-06-13 Cte Valeron Corporation Intelligent power monitor
JP2737956B2 (ja) * 1988-10-31 1998-04-08 松下電器産業株式会社 ブラシレスモータのコイル焼損防止装置
DE4028241A1 (de) 1990-09-06 1992-03-12 Leica Mikroskopie & Syst Positionssteuerung

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2123145A1 (fr) * 1971-01-25 1972-09-08 Unelec
GB1363738A (en) * 1971-10-25 1974-08-14 Messgeraetewerk Zwoenitz Gerae Electric circuit arrangement for controlling the supply of electric current to an electric motor
EP0456874A1 (fr) * 1990-05-18 1991-11-21 Siemens Aktiengesellschaft Protection contre la surcharge d'un bobinage d'un moteur série à courant continu, surveillé par un dispositif de mesure de la vitesse de rotation

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Title
SOVIET INVENTIONS ILLUSTRATED, P,Q Sektionen, Woche 8423, 18. Juli 1984, DERWENT PUBLICATIONS LTD., London, R 57, & SU, A, 1043-398 (ONISH- CHENKO, 23 September 1983) + Letzter Paragraph + *

Also Published As

Publication number Publication date
JP3054656B2 (ja) 2000-06-19
KR950703221A (ko) 1995-08-23
JPH08501200A (ja) 1996-02-06
EP0660972B1 (fr) 1996-09-25
EP0660972A1 (fr) 1995-07-05
DE4230873A1 (de) 1994-03-17
ATE143537T1 (de) 1996-10-15
DE59304001D1 (de) 1996-10-31
US5602708A (en) 1997-02-11

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